Simulation

Isaac Gym

Isaac Gym is NVIDIA's GPU-accelerated physics simulation environment for reinforcement learning that runs thousands of environment instances in parallel on a single GPU, keeping both simulation and policy training on-device to eliminate CPU-GPU transfer bottlenecks. It enabled results such as training ANYmal locomotion policies in minutes (Rudin et al., 2021) and has since been superseded by Isaac Lab.

Why it matters for physical AI

Massively parallel simulation collapsed RL wall-clock time from weeks to minutes, making iterative sim-to-real development of locomotion and manipulation policies practical for ordinary research teams.